Control device and method of electric vehicle for realizing virtual drive system sensibility

Abstract

A control device and method of an electric vehicle for realizing virtual drive system sensibility is disclosed. A main objective is to provide the control device and method of the electric vehicle capable of realizing and providing differentiated driving sensibility that may be felt in other drive systems such as a drive system of an internal combustion engine vehicle. The control method includes determining a basic torque command, for controlling operation of a driving motor, from vehicle driving information collected by a controller while driving a vehicle; determining a virtual drive system torque command, which is a corrected torque command for realizing virtual drive system sensibility, from a determined basic torque command by using a virtual drive system model preset in the controller, and controlling torque of the driving motor by the controller according to a determined virtual drive system torque command.

The invention claimed is: 
     
       1. A control method of an electric vehicle for realizing virtual drive system sensibility, the control method comprising:
 determining, by a controller, a basic torque command for controlling operation of a driving motor based on vehicle driving information collected while driving a vehicle; 
 determining, by the controller, a virtual drive system torque command, as corrected from the basic torque command, based on adjusting and changing a model setting variable value of a virtual drive system model preset, thereby realizing the virtual drive system sensibility; and 
 controlling, by the controller, a torque of the driving motor according to the virtual drive system torque command. 
 
     
     
       2. The control method of  claim 1 , wherein the virtual drive system torque command, which is obtained by adding a vibration component to the basic torque command, is a motor torque command having a value that changes in a vibration form. 
     
     
       3. The control method of  claim 1 , wherein the model setting variable value is a driver setting variable value, further comprising:
 changing, by the controller, the driver setting variable value preset in the virtual drive system model, which is used to determine the virtual drive system torque command based on the basic torque command according to a driver's change input. 
 
     
     
       4. The control method of  claim 3 , wherein the virtual drive system torque command, which is obtained by adding a vibration component to the basic torque command, is a motor torque command having a value that changes in a vibration form, and a driver setting variable determined in the virtual drive system model comprises at least one or more of vibration frequency of the virtual drive system torque command, a damping ratio of the virtual drive system torque command, and amplitude of the virtual drive system torque command. 
     
     
       5. The control method of  claim 4 , wherein a mass-spring-damper system model is used as the virtual drive system model in the controller. 
     
     
       6. The control method of  claim 4 , wherein, in the determining of the virtual drive system torque command, the corrected torque command is determined by the virtual drive system model by inputting the basic torque command, and
 the virtual drive system torque command is determined by a value obtained by adding the basic torque command and a value obtained by multiplying a difference value between the corrected torque command and the basic torque command by the amplitude which is the driver setting variable value. 
 
     
     
       7. The control method of  claim 4 , wherein, in the determining of the virtual drive system torque command, a first corrected torque command corrected by the virtual drive system model by inputting the basic torque command is determined;
 a summed value is obtained after applying a weight to each of the first corrected torque command and the basic torque command; 
 a second corrected torque command corrected by the virtual drive system model by inputting the summed value is determined as the virtual drive system torque command; and 
 the weight applied to the first corrected torque command is the amplitude which is the driver setting variable value. 
 
     
     
       8. The control method of  claim 4 , wherein, in the controller, when the basic torque command enters a preset backlash section, the amplitude is reduced to a value of zero, and when the basic torque command leaves the preset backlash section, the amplitude is restored to a value set by a driver. 
     
     
       9. The control method of  claim 8 , wherein the preset backlash section is set to a section of a torque range approximating the value of zero, and is set as a torque section in which a predetermined negative torque value is a minimum value, and a predetermined positive torque value is a maximum value. 
     
     
       10. The control method of  claim 4 , wherein a mass-spring-damper system model is used as the virtual drive system model in the controller, wherein the virtual drive system torque command is determined by an equation: spring force+damping force−(A−1)F* in , where A is the amplitude of the virtual drive system torque command, and F* in  is the basic torque command. 
     
     
       11. The control method of  claim 3 , wherein the controller uses a mass-spring-damper system model as the virtual drive system model, wherein input force is the basic torque command, and output force, which is a sum of spring force and damping force, is the virtual drive system torque command. 
     
     
       12. The control method of  claim 11 , wherein, in F in −kx−d{dot over (x)}=m{umlaut over (x)}, an equation representing the mass-spring-damper system model, a product of displacement x and a spring rate k is the spring force,
 a product of speed {dot over (x)}, which is a differential value of the displacement, and the damping rate d is the damping force, and a determined driver setting variable is at least one or more of the spring rate k, the damping rate d, and the weight m. 
 
     
     
       13. A control device of an electric vehicle, the control device comprising:
 a first controller generating and outputting a virtual drive system torque command; and 
 a second controller controlling torque of a driving motor according to the virtual drive system torque command output from the first controller, 
 wherein the first controller comprises:
 a basic torque command generation part for determining a basic torque command, and for controlling operation of the driving motor from vehicle driving information collected during driving a vehicle; and 
 a virtual drive system mode control part for determining the virtual drive system torque command, which is a corrected torque command for realizing virtual drive system sensibility, from the basic torque command determined by the basic torque command generation part by using a set virtual drive system model in a state where the virtual drive system model is preset; 
 
 wherein the virtual drive system model is provided such that an interface part directly adjusts and changes a model setting variable value for personalization of a driver. 
 
     
     
       14. The control device of  claim 13 , wherein the virtual drive system torque command, which is obtained by adding a vibration component to the basic torque command, is a motor torque command having a value that changes in a vibration form. 
     
     
       15. The control device of  claim 13 , further comprising:
 an interface part provided to allow a driver to input a change of a driver setting variable value determined in the virtual drive system model set in the virtual drive system mode control part. 
 
     
     
       16. The control device of  claim 15 , wherein the virtual drive system torque command, which is obtained by adding a vibration component to the basic torque command, is a motor torque command having a value that changes in a vibration form, and
 a driver setting variable determined in the virtual drive system model comprises at least one or more of a vibration frequency of the virtual drive system torque command, a damping ratio of the virtual drive system torque command, and amplitude of the virtual drive system torque command. 
 
     
     
       17. The control device of  claim 16 , wherein a mass-spring-damper system model is used as the virtual drive system model. 
     
     
       18. The control device of  claim 15 , wherein a mass-spring-damper system model is used as the virtual drive system model, and
 in the mass-spring-damper system, input force is the basic torque command, and output force, which is a sum of spring force and damping force, is the virtual drive system torque command. 
 
     
     
       19. A control method of an electric vehicle for realizing virtual drive system sensibility, the control method comprising:
 determining, by a controller, a basic torque command for controlling operation of a driving motor based on vehicle driving information collected while driving a vehicle; 
 determining, by the controller, a virtual drive system torque command, as corrected from the basic torque command, based on adjusting and changing a model setting variable value of a virtual drive system model preset, thereby realizing the virtual drive system sensibility; and 
 controlling, by the controller, a torque of the driving motor according to the virtual drive system torque command; 
 wherein the model setting variable value includes at least one or more of stiffness of virtual drive system, damping amount of virtual drive system, and inertia of virtual drive system.